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   <div id="projectbrief">OrbSlam2 documentado y modificado</div>
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<a href="_viewer_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#ifndef VIEWER_H</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#define VIEWER_H</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">#include &quot;FrameDrawer.h&quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">#include &quot;MapDrawer.h&quot;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">#include &quot;Tracking.h&quot;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">#include &quot;System.h&quot;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">*/</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;opencv2/videoio.hpp&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;{</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">class </span>Tracking;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">class </span>FrameDrawer;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">class </span>MapDrawer;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">class </span>System;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html">   71</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html">Viewer</a></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;{</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a4cb74123010b48fe47265e7b371229a5">Viewer</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html">System</a>* pSystem, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html">FrameDrawer</a>* pFrameDrawer, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html">MapDrawer</a>* pMapDrawer, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html">Tracking</a> *pTracking, <span class="keyword">const</span> std::string &amp;strSettingPath, cv::VideoCapture* = NULL);    <span class="comment">// Agregé el últinmo argumento</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="comment">// Main thread function. Draw points, keyframes, the current camera pose and the last processed</span></div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="comment">// frame. Drawing is refreshed according to the camera fps. We use Pangolin.</span></div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a68c269890714298034997be622f09947">Run</a>();</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#af9079c4e563099cf3c8cda403c854cf8">RequestFinish</a>();</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a4b23bbdcc2c5898d074870785a3e07c5">RequestStop</a>();</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a51c55a1f1ad05a6ba2c6b57f9133f88d">isFinished</a>();</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#aa1888ef340152348f395a814ddfb362f">isStopped</a>();</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a2b0eeffd84b5d94a4c4f4e0db174c9fe">Release</a>();</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="comment">/* Agregados */</span></div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ac390ea9ca316634285059efd5168d97c">  128</a></span>&#160;    cv::VideoCapture* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ac390ea9ca316634285059efd5168d97c">video</a>;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#af0800c2a74e96b5763d20f0ce467b790">  135</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#af0800c2a74e96b5763d20f0ce467b790">tiempo</a> = 0;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a17167841bf5fbad4c9dad01fe4f5bc9b">  142</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a17167841bf5fbad4c9dad01fe4f5bc9b">duracion</a>;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ab1c7002d36bc59e061b3761ca33c249a">  148</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ab1c7002d36bc59e061b3761ca33c249a">tiempoAlterado</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a3e08b723db61880cc2fe465e358e957d">  153</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a3e08b723db61880cc2fe465e358e957d">tiempoReversa</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div><div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a793c83b18167adbeebde82bc26c3e17f">  156</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a793c83b18167adbeebde82bc26c3e17f">videoPausado</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a11a0333b735379526a324a76d5e6fbc4">  159</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a11a0333b735379526a324a76d5e6fbc4">mostrarEntradaAntidistorsionada</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div><div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a73f09c3764dd6d9151ce2134a7c07180">  162</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a73f09c3764dd6d9151ce2134a7c07180">modoAutomatico</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div><div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a6826e72c72575535c0d01fd552c29ac6">  165</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a6826e72c72575535c0d01fd552c29ac6">sentidoModoAutomatico</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a4f6ee522d15ea19986f1625007ef08cb">  168</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a4f6ee522d15ea19986f1625007ef08cb">cargarMapa</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ab26f78e86d98cab4eb5af208bda89435">  171</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ab26f78e86d98cab4eb5af208bda89435">guardarMapa</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a875bc20035547a49b8bc3fa51d02bb85">  178</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a875bc20035547a49b8bc3fa51d02bb85">T</a> = 0.033; 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   <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html">FrameDrawer</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ab73fa40df47dc6d5c289357e4ad1af9c">mpFrameDrawer</a>;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;</div><div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a924a16a3279742ec39c31dbe84b77291">  200</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html">MapDrawer</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a924a16a3279742ec39c31dbe84b77291">mpMapDrawer</a>;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;</div><div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a2090b65a559e20262c716b57f87cf8dd">  203</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html">Tracking</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a2090b65a559e20262c716b57f87cf8dd">mpTracker</a>;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="comment">// 1/fps in ms</span></div><div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#adb85f4094a154172711b1acf9f36c209">  206</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#adb85f4094a154172711b1acf9f36c209">mT</a>;</div><div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a90e1edcd45934303b8a968a77484dfa5">  207</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a90e1edcd45934303b8a968a77484dfa5">mImageWidth</a>, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a9f3df677dcd9b1c323e11e763d08bad8">mImageHeight</a>;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;</div><div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#af73493d3e6c2d7664e8c0d7884d6a485">  209</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a30986dd20e162b6c064e6515486ae5f7">mViewpointX</a>, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a3f351e4be6077fa437a9fd59e3e179c3">mViewpointY</a>, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#af73493d3e6c2d7664e8c0d7884d6a485">mViewpointZ</a>, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ada580026f9435541a53b408821a34e56">mViewpointF</a>;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ad8085f7f51887cea273e0f6357137439">CheckFinish</a>();</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#aa6962b0695ea6c2164e9ce2b10de80a0">SetFinish</a>();</div><div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a5f31947755c29030a8aa6dd59d13256c">  213</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a5f31947755c29030a8aa6dd59d13256c">mbFinishRequested</a>;</div><div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ae7455c94e1109f9ecc8311583309390f">  214</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ae7455c94e1109f9ecc8311583309390f">mbFinished</a>;</div><div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a9633023902537fe1b320c289f6ae74fa">  215</a></span>&#160;    std::mutex <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a9633023902537fe1b320c289f6ae74fa">mMutexFinish</a>;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;</div><div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a78d845b2b2e8d705686e88c8951296e7">  221</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a78d845b2b2e8d705686e88c8951296e7">mbStopped</a>;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;</div><div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a8f55ae2a631d2dae1a790bcfbb1779f5">  228</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a8f55ae2a631d2dae1a790bcfbb1779f5">mbStopRequested</a>;</div><div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a9da4631859d306fc77736cbd5a8169d8">  229</a></span>&#160;    std::mutex <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a9da4631859d306fc77736cbd5a8169d8">mMutexStop</a>;</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;};</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;}</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="preprocessor">#endif // VIEWER_H</span></div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    </div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;</div><div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_ada580026f9435541a53b408821a34e56"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ada580026f9435541a53b408821a34e56">ORB_SLAM2::Viewer::mViewpointF</a></div><div class="ttdeci">float mViewpointF</div><div class="ttdef"><b>Definition:</b> Viewer.h:209</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a875bc20035547a49b8bc3fa51d02bb85"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a875bc20035547a49b8bc3fa51d02bb85">ORB_SLAM2::Viewer::T</a></div><div class="ttdeci">float T</div><div class="ttdoc">Período mínimo entre cuadros, en segundos. </div><div class="ttdef"><b>Definition:</b> Viewer.h:178</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a4b23bbdcc2c5898d074870785a3e07c5"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a4b23bbdcc2c5898d074870785a3e07c5">ORB_SLAM2::Viewer::RequestStop</a></div><div class="ttdeci">void RequestStop()</div><div class="ttdoc">Solicita pausar. </div><div class="ttdef"><b>Definition:</b> Viewer.cc:453</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a11a0333b735379526a324a76d5e6fbc4"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a11a0333b735379526a324a76d5e6fbc4">ORB_SLAM2::Viewer::mostrarEntradaAntidistorsionada</a></div><div class="ttdeci">bool mostrarEntradaAntidistorsionada</div><div class="ttdoc">Señal que alterna mostrando la imagen de entrada como viene o antidistorsionada. </div><div class="ttdef"><b>Definition:</b> Viewer.h:159</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a90e1edcd45934303b8a968a77484dfa5"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a90e1edcd45934303b8a968a77484dfa5">ORB_SLAM2::Viewer::mImageWidth</a></div><div class="ttdeci">float mImageWidth</div><div class="ttdef"><b>Definition:</b> Viewer.h:207</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_abf0704bc29f282192c5e5c36f66fa255"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#abf0704bc29f282192c5e5c36f66fa255">ORB_SLAM2::Viewer::Stop</a></div><div class="ttdeci">bool Stop()</div><div class="ttdoc">Método privado invocado exclusivamente en el bucle principal de Viewer::Run, para ejecutar una pausa ...</div><div class="ttdef"><b>Definition:</b> Viewer.cc:464</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html">ORB_SLAM2::FrameDrawer</a></div><div class="ttdoc">Clase de instancia única que se ocupa de mostrar la imagen de la cámara, con marcas verdes sobre los ...</div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:48</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a78d845b2b2e8d705686e88c8951296e7"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a78d845b2b2e8d705686e88c8951296e7">ORB_SLAM2::Viewer::mbStopped</a></div><div class="ttdeci">bool mbStopped</div><div class="ttdoc">Señal de que Viewer está parado. </div><div class="ttdef"><b>Definition:</b> Viewer.h:221</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_ac390ea9ca316634285059efd5168d97c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ac390ea9ca316634285059efd5168d97c">ORB_SLAM2::Viewer::video</a></div><div class="ttdeci">cv::VideoCapture * video</div><div class="ttdoc">Flujo de entrada de video. </div><div class="ttdef"><b>Definition:</b> Viewer.h:128</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a68c269890714298034997be622f09947"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a68c269890714298034997be622f09947">ORB_SLAM2::Viewer::Run</a></div><div class="ttdeci">void Run()</div><div class="ttdoc">Método principal de Viewer, que se ejecuta en un hilo propio. </div><div class="ttdef"><b>Definition:</b> Viewer.cc:75</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_af0800c2a74e96b5763d20f0ce467b790"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#af0800c2a74e96b5763d20f0ce467b790">ORB_SLAM2::Viewer::tiempo</a></div><div class="ttdeci">int tiempo</div><div class="ttdoc">Posición del trackbar de tiempo de entrada, expresado en cuadros. </div><div class="ttdef"><b>Definition:</b> Viewer.h:135</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_ae7455c94e1109f9ecc8311583309390f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ae7455c94e1109f9ecc8311583309390f">ORB_SLAM2::Viewer::mbFinished</a></div><div class="ttdeci">bool mbFinished</div><div class="ttdef"><b>Definition:</b> Viewer.h:214</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a6826e72c72575535c0d01fd552c29ac6"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a6826e72c72575535c0d01fd552c29ac6">ORB_SLAM2::Viewer::sentidoModoAutomatico</a></div><div class="ttdeci">bool sentidoModoAutomatico</div><div class="ttdoc">Variable interna que indica el sentido del video cuando actúa la corrección automática. </div><div class="ttdef"><b>Definition:</b> Viewer.h:165</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_ab1c7002d36bc59e061b3761ca33c249a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ab1c7002d36bc59e061b3761ca33c249a">ORB_SLAM2::Viewer::tiempoAlterado</a></div><div class="ttdeci">bool tiempoAlterado</div><div class="ttdoc">Señal para main, indicando que el usuario cambió el tiempo con el trackbar. </div><div class="ttdef"><b>Definition:</b> Viewer.h:148</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a9da4631859d306fc77736cbd5a8169d8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a9da4631859d306fc77736cbd5a8169d8">ORB_SLAM2::Viewer::mMutexStop</a></div><div class="ttdeci">std::mutex mMutexStop</div><div class="ttdef"><b>Definition:</b> Viewer.h:229</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a9f3df677dcd9b1c323e11e763d08bad8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a9f3df677dcd9b1c323e11e763d08bad8">ORB_SLAM2::Viewer::mImageHeight</a></div><div class="ttdeci">float mImageHeight</div><div class="ttdef"><b>Definition:</b> Viewer.h:207</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a4f6ee522d15ea19986f1625007ef08cb"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a4f6ee522d15ea19986f1625007ef08cb">ORB_SLAM2::Viewer::cargarMapa</a></div><div class="ttdeci">bool cargarMapa</div><div class="ttdoc">Señal para que main cargue en mapa en el thread de System y Tracking. </div><div class="ttdef"><b>Definition:</b> Viewer.h:168</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a51c55a1f1ad05a6ba2c6b57f9133f88d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a51c55a1f1ad05a6ba2c6b57f9133f88d">ORB_SLAM2::Viewer::isFinished</a></div><div class="ttdeci">bool isFinished()</div><div class="ttdoc">Informa si Viewer ha terminado, paso previo para cerrar la aplicación. </div><div class="ttdef"><b>Definition:</b> Viewer.cc:448</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_af73493d3e6c2d7664e8c0d7884d6a485"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#af73493d3e6c2d7664e8c0d7884d6a485">ORB_SLAM2::Viewer::mViewpointZ</a></div><div class="ttdeci">float mViewpointZ</div><div class="ttdef"><b>Definition:</b> Viewer.h:209</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_aa6962b0695ea6c2164e9ce2b10de80a0"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#aa6962b0695ea6c2164e9ce2b10de80a0">ORB_SLAM2::Viewer::SetFinish</a></div><div class="ttdeci">void SetFinish()</div><div class="ttdef"><b>Definition:</b> Viewer.cc:443</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_aa1888ef340152348f395a814ddfb362f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#aa1888ef340152348f395a814ddfb362f">ORB_SLAM2::Viewer::isStopped</a></div><div class="ttdeci">bool isStopped()</div><div class="ttdoc">Devuelve true si Viewer está pausado. </div><div class="ttdef"><b>Definition:</b> Viewer.cc:459</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a30986dd20e162b6c064e6515486ae5f7"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a30986dd20e162b6c064e6515486ae5f7">ORB_SLAM2::Viewer::mViewpointX</a></div><div class="ttdeci">float mViewpointX</div><div class="ttdef"><b>Definition:</b> Viewer.h:209</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html">ORB_SLAM2::Viewer</a></div><div class="ttdoc">Viewer representa la interfaz de usuario. </div><div class="ttdef"><b>Definition:</b> Viewer.h:71</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_ad8085f7f51887cea273e0f6357137439"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ad8085f7f51887cea273e0f6357137439">ORB_SLAM2::Viewer::CheckFinish</a></div><div class="ttdeci">bool CheckFinish()</div><div class="ttdef"><b>Definition:</b> Viewer.cc:438</div></div>
<div class="ttc" id="namespace_o_r_b___s_l_a_m2_html"><div class="ttname"><a href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="ttdoc">This file is part of ORB-SLAM2. </div><div class="ttdef"><b>Definition:</b> Converter.h:31</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html">ORB_SLAM2::MapDrawer</a></div><div class="ttdoc">Esta clase contiene los métodos para dibujar en pangolin. </div><div class="ttdef"><b>Definition:</b> MapDrawer.h:41</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html">ORB_SLAM2::Tracking</a></div><div class="ttdoc">Objeto único que se ejecuta en su propio Trhead, y se inicia con Run(). </div><div class="ttdef"><b>Definition:</b> Tracking.h:114</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a2090b65a559e20262c716b57f87cf8dd"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a2090b65a559e20262c716b57f87cf8dd">ORB_SLAM2::Viewer::mpTracker</a></div><div class="ttdeci">Tracking * mpTracker</div><div class="ttdoc">Tracker. </div><div class="ttdef"><b>Definition:</b> Viewer.h:203</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a4cb74123010b48fe47265e7b371229a5"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a4cb74123010b48fe47265e7b371229a5">ORB_SLAM2::Viewer::Viewer</a></div><div class="ttdeci">Viewer(System *pSystem, FrameDrawer *pFrameDrawer, MapDrawer *pMapDrawer, Tracking *pTracking, const std::string &amp;strSettingPath, cv::VideoCapture *=NULL)</div><div class="ttdoc">Constructor único del singleton Viewer. </div><div class="ttdef"><b>Definition:</b> Viewer.cc:35</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_adb85f4094a154172711b1acf9f36c209"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#adb85f4094a154172711b1acf9f36c209">ORB_SLAM2::Viewer::mT</a></div><div class="ttdeci">double mT</div><div class="ttdef"><b>Definition:</b> Viewer.h:206</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_ab73fa40df47dc6d5c289357e4ad1af9c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ab73fa40df47dc6d5c289357e4ad1af9c">ORB_SLAM2::Viewer::mpFrameDrawer</a></div><div class="ttdeci">FrameDrawer * mpFrameDrawer</div><div class="ttdoc">Única instancia de FrameDrawer, que se invoca sólo desde Viewer. </div><div class="ttdef"><b>Definition:</b> Viewer.h:197</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_ab26f78e86d98cab4eb5af208bda89435"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#ab26f78e86d98cab4eb5af208bda89435">ORB_SLAM2::Viewer::guardarMapa</a></div><div class="ttdeci">bool guardarMapa</div><div class="ttdoc">Señal para que main guarde el mapa en el thread de System y Tracking. </div><div class="ttdef"><b>Definition:</b> Viewer.h:171</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_aaacd5e9192cde4d09b686fb35a618eb8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#aaacd5e9192cde4d09b686fb35a618eb8">ORB_SLAM2::Viewer::mpSystem</a></div><div class="ttdeci">System * mpSystem</div><div class="ttdoc">Sistema. </div><div class="ttdef"><b>Definition:</b> Viewer.h:194</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html">ORB_SLAM2::System</a></div><div class="ttdoc">System se instancia una única vez en main, en la variable SLAM. </div><div class="ttdef"><b>Definition:</b> System.h:96</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a3e08b723db61880cc2fe465e358e957d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a3e08b723db61880cc2fe465e358e957d">ORB_SLAM2::Viewer::tiempoReversa</a></div><div class="ttdeci">bool tiempoReversa</div><div class="ttdoc">Sentido de avance del tiempo. </div><div class="ttdef"><b>Definition:</b> Viewer.h:153</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a73f09c3764dd6d9151ce2134a7c07180"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a73f09c3764dd6d9151ce2134a7c07180">ORB_SLAM2::Viewer::modoAutomatico</a></div><div class="ttdeci">bool modoAutomatico</div><div class="ttdoc">Modo automatico que pasa a resversa cuando se pierde. </div><div class="ttdef"><b>Definition:</b> Viewer.h:162</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a3f351e4be6077fa437a9fd59e3e179c3"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a3f351e4be6077fa437a9fd59e3e179c3">ORB_SLAM2::Viewer::mViewpointY</a></div><div class="ttdeci">float mViewpointY</div><div class="ttdef"><b>Definition:</b> Viewer.h:209</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a17167841bf5fbad4c9dad01fe4f5bc9b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a17167841bf5fbad4c9dad01fe4f5bc9b">ORB_SLAM2::Viewer::duracion</a></div><div class="ttdeci">int duracion</div><div class="ttdoc">Duración del archivo de video de entrada, expresado en cuadros. </div><div class="ttdef"><b>Definition:</b> Viewer.h:142</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a793c83b18167adbeebde82bc26c3e17f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a793c83b18167adbeebde82bc26c3e17f">ORB_SLAM2::Viewer::videoPausado</a></div><div class="ttdeci">bool videoPausado</div><div class="ttdoc">Control de pausa del video. </div><div class="ttdef"><b>Definition:</b> Viewer.h:156</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a924a16a3279742ec39c31dbe84b77291"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a924a16a3279742ec39c31dbe84b77291">ORB_SLAM2::Viewer::mpMapDrawer</a></div><div class="ttdeci">MapDrawer * mpMapDrawer</div><div class="ttdoc">Única instancia de MapDrawer, que se invoca sólo desde Viewer. </div><div class="ttdef"><b>Definition:</b> Viewer.h:200</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a9633023902537fe1b320c289f6ae74fa"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a9633023902537fe1b320c289f6ae74fa">ORB_SLAM2::Viewer::mMutexFinish</a></div><div class="ttdeci">std::mutex mMutexFinish</div><div class="ttdef"><b>Definition:</b> Viewer.h:215</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a5f31947755c29030a8aa6dd59d13256c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a5f31947755c29030a8aa6dd59d13256c">ORB_SLAM2::Viewer::mbFinishRequested</a></div><div class="ttdeci">bool mbFinishRequested</div><div class="ttdef"><b>Definition:</b> Viewer.h:213</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a8f55ae2a631d2dae1a790bcfbb1779f5"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a8f55ae2a631d2dae1a790bcfbb1779f5">ORB_SLAM2::Viewer::mbStopRequested</a></div><div class="ttdeci">bool mbStopRequested</div><div class="ttdoc">Señal de que se solicitó la parada del Viewer. </div><div class="ttdef"><b>Definition:</b> Viewer.h:228</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_af9079c4e563099cf3c8cda403c854cf8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#af9079c4e563099cf3c8cda403c854cf8">ORB_SLAM2::Viewer::RequestFinish</a></div><div class="ttdeci">void RequestFinish()</div><div class="ttdoc">Solicita terminar para cerrar la aplicación. </div><div class="ttdef"><b>Definition:</b> Viewer.cc:433</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html_a2b0eeffd84b5d94a4c4f4e0db174c9fe"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html#a2b0eeffd84b5d94a4c4f4e0db174c9fe">ORB_SLAM2::Viewer::Release</a></div><div class="ttdeci">void Release()</div><div class="ttdoc">Solicita salir de una pausa y resumir la operación. </div><div class="ttdef"><b>Definition:</b> Viewer.cc:479</div></div>
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